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/* Author: Ioan Sucan */

#ifndef OMPL_TOOLS_SELF_CONFIG_
#define OMPL_TOOLS_SELF_CONFIG_

#include "ompl/config.h"
#include "ompl/base/SpaceInformation.h"
#include <iostream>
#include <string>

namespace ompl
{

    /** \brief This class contains methods that automatically
        configure various parameters for motion planning. If expensive
        computation is performed, the results are cached. */
    class SelfConfig
    {
    public:

        /** \brief Construct an instance that can configure the space
            encapsulated by \e si. Any information printed to the
            console is prefixed by \e context */
        SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());

        /** \brief Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidState())*/
        double getProbabilityOfValidState(void);

        /** \brief Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionLength())*/
        double getAverageValidMotionLength(void);

        /** \brief If \e proj is undefined, it is set to the default
            projection reported by base::StateSpace::getDefaultProjection().
            If no default projection is available either, an exception is thrown. */
        void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);

        /** \brief Instances of base::ValidStateSampler need a number of attempts to be specified -- the maximum number of times
            a new sample is selected and checked to be valid. This function computes a number of \e attempts such that the probability
            of obtaining a valid sample is 90\% */
        void configureValidStateSamplingAttempts(unsigned int &attempts);

        /** \brief Compute what a good length for motion segments is */
        void configurePlannerRange(double &range);

        /** \brief Print the computed configuration parameters */
        void print(std::ostream &out = std::cout) const;

    private:

        /// @cond IGNORE
        class SelfConfigImpl;

        SelfConfigImpl *impl_;
        std::string     context_;
        /// @endcond
    };
}

#endif
